CEmptyNRD.h

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/* +---------------------------------------------------------------------------+
         |                     Mobile Robot Programming Toolkit (MRPT)               |
         |                          http://www.mrpt.org/                             |
         |                                                                           |
         | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
         | See: http://www.mrpt.org/Authors - All rights reserved.                   |
         | Released under BSD License. See details in http://www.mrpt.org/License    |
         +---------------------------------------------------------------------------+ */

#ifndef CEMPTYNRD_H
#define CEMPTYNRD_H

#include <mrpt/obs/CActionCollection.h>
#include <mrpt/obs/CSensoryFrame.h>
#include <mrpt/obs/CRawlog.h>

#include <mrpt/graphslam/interfaces/CNodeRegistrationDecider.h>

namespace mrpt { namespace graphslam { namespace deciders {

/**\brief Empty Node Registration Decider
 *
 * Handy when you are testing other parts of the application but not the
 * specific registration procedure
 *
 * \ingroup mrpt_graphslam_grp
 */
template<class GRAPH_T=typename mrpt::graphs::CNetworkOfPoses2DInf>
class CEmptyNRD:
        public mrpt::graphslam::deciders::CNodeRegistrationDecider<GRAPH_T>
{
        /**\brief Handy typedefs */
        /**\{*/
        typedef typename GRAPH_T::constraint_t::type_value pose_t;
        typedef typename GRAPH_T::global_pose_t global_pose_t;
        /**\}*/
        public:
                CEmptyNRD();
                ~CEmptyNRD();

                bool updateState( mrpt::obs::CActionCollectionPtr action,
                                mrpt::obs::CSensoryFramePtr observations,
                                mrpt::obs::CObservationPtr observation );
                global_pose_t getCurrentRobotPosEstimation() const;

        private:
                void registerNewNode();

};

//////////////////////////////////////////////////////////////////////////////

template<class GRAPH_T>
CEmptyNRD<GRAPH_T>::CEmptyNRD() { }
template<class GRAPH_T>
CEmptyNRD<GRAPH_T>::~CEmptyNRD() { }

template<class GRAPH_T>
bool CEmptyNRD<GRAPH_T>::updateState(
                mrpt::obs::CActionCollectionPtr action,
                mrpt::obs::CSensoryFramePtr observations,
                mrpt::obs::CObservationPtr observation )  {return false;}

template<class GRAPH_T>
void CEmptyNRD<GRAPH_T>::registerNewNode() { }

template<class GRAPH_T>
typename GRAPH_T::global_pose_t
CEmptyNRD<GRAPH_T>::getCurrentRobotPosEstimation() const {return typename GRAPH_T::global_pose_t();}

} } } // end of namespaces

#endif /* end of include guard: CEMPTYNRD_H */